stopping for a single night - rest area or rv park?

I have done both.
In an RV, stopping late; rest area or truck stop. Stopping early, or staying for a day or two, RV park.
In a car or pickup, in my younger days, stop at a rest area for a nap whenever I feel the need. Now that I am older, I stop at a cheap motel. Some of them are cheaper than an RV park! Cleanliness is the only requirement.